The directions it says to set all inputs to ch1 when using the uart configuration for these gimbals.
The new configurator and firmware version for these gimbals though needs a mode set for each of the options on the mode chan, so low, med, high each need a mode. Ardupilot does not control these properly depending on what modes are set.
It would be nice to actually use and set these modes in ardupilot so you can switch between stabalized and just pointing or what ever other options you want.
Either way it seems to behave oddly but im also not sure I have configured this perfectly either.
For instance, if I set M2: GOTO-ZERO the gimbal just locks straight ahead and no ardu control is possible so the gimbal things ardupilot is setting it to mode M2 and I don’t see anywhere you can change this.
Sure setting M2 to other modes like FPVM or rate_lock makes it work but so far you just get one option and you have to set it in the M2 spot. again it would be nice to be able to change this.
It looks like all of this is different from gimbal version 3.4 that the docs are written for. I am on gimbal version 3.8 now.
It would also be nice to be able to adjust the sensitivity setting. Id love to see these both controllable from RC inputs and something like GCS aux functions.
Mostly though I just need to know what is the right way? Is ardupilot doing stabilization and the gimbal should be in rate lock? Should I set the gimbal to the FPV mode so it points as per command but also stabilizes?
I think this is not very effective way how to solve it. Chance that someone reads this here and go to correct it is very small.
If you aren’t a programmer able to edit it yourself (like me), you can write an issue or feature request on github here.
Then there is a chance it gets to developers and maybe they can edit it.
You only need to properly think through how (according you) it should work, clearly and shortly (!!!) describe it and then hope…
If you want, I can do it some other day when I have time for it. I’ll keep following this thread.
@spova Reading again here what does it mean “gimbal lock” mode and it’s possible that this option is working properly, only we don’t fully understand it.
Additionally I don’t test the gimbal with a real vehicle but only with a bare FC (without MAG) on a table so it can be a reason for the strange behaviour.
Just look at it first before writing to github. I guess you may rather make feature request than a bug report.
I also dont really know how to program it but I was hoping someone that initially was involved with adding the caddx gimbal support would comment on the intended function.
I’m sure the lock option is working properly and I just don’t know how to make that do what I want. When I turn on gimbal lock ardupilot does keep the gimbal pointed in a direction and altitude as I move the aircraft around manually. I have no idea how to control what its pointing at as the GPS point option didnt seem to change it. However its not really relevant to how mode selection on the gimbal works or is intended to work. Gimbal lock is an ardupilot mode. The gimbal does not know or care if that is on it just takes instructions from ardupilot either way. The gimbal’s internal modes control how the gimbal responds to those instructions.
Id love to have passthrough or some way to access the gimbals own mode and sensitivity options and still have ardupilot be able to control the gimbal. I dont know if there is a reason or plans for why these gimbals are implemented the way they are now though.
I agree with your conclusions. Probably we need the way to change internal gimbal modes and sensivity.
I think best way would be to summarize it and put it as a feature request to github. Would you do it?
Id be happy to put in an issue on github but I’m not certain there is an issue or if I just don’t know how to use the gimbal.
I am not the regular use case gimbal user. I use ardupilot to fly FPV helicopers more like FPV quad copters.
I was hoping someone would chime in here.
I hate directly mentioning people but @rmackay9 seems to the one most involved in gimbal stuff when I search. Does ardupilot actually use the gimbal mode and gimbal sensitivity options for the caddx/xf gimbals do you know? As in are those controlled by something in the AP? It seems like there is a difference in how these gimbals are controlled on different versions of the gimbal firmware may.
Also how is the gimbal controlled in earth ref mode? Mine just locks to one direction and I cant seem to change what that direction is. It would be awesome if I could figure out a way to rate control in earth ref and angle control in body ref on the one switch for changing between earth and body mode.
Iv been reading about how to maybe do some gimbal control customization with lua but im a noob at lua so its going to be a long time before I figure that out.